背景和目的：电子显微镜（EM）的进步现在允许数百微米组织的三维（3D）成像具有纳米规模的分辨率，为研究大脑的超微结构提供新的机会。在这项工作中，我们介绍了一种可自由的GACSON软件，用于3D-EM脑组织样本中的骨髓轴突的可视化，分割，评估和形态分析。方法：Gacson软件配备了图形用户界面（GUI）。它自动分段粒细胞轴突的轴外空间及其相应的髓鞘护套，并允许手动分段，校对和分段组件的交互式校正。 GaCson分析骨髓轴突的形态，如轴突口，轴突偏心，髓鞘厚度或G比。结果：我们通过在假手术或创伤性脑损伤（TBI）之后，通过分割和分析Myelizing ansoce在大鼠躯体损伤（TBI）后的六3D-EM体积中的Myelized轴突来说明Gacson的使用。我们的研究结果表明，在损伤后五个月的TBI动物在躯体抑制皮质中近义Cortex中的近期骨髓轴突的等同直径。结论：我们的结果表明，GACSON是3D-EM卷中肢体化轴突的可视化，分割，评估和形态分析的有价值的工具。在麻省理工学院许可证下，Gacson在Https://github.com/andreabehan/g-acson免费提供。

深度学习对组织病理学整体幻灯片图像（WSIS）的应用持有提高诊断效率和再现性，但主要取决于写入计算机代码或购买商业解决方案的能力。我们介绍了一种使用自由使用，开源软件（Qupath，DeepMib和Spenthology）的无代码管道，用于创建和部署基于深度学习的分段模型，以进行计算病理学。我们展示了从结肠粘膜中分离上皮的用例的管道。通过使用管道的主动学习开发，包括140苏木蛋白 - 曙红（HE） - 染色的WSI（HE）-SIN（HE）-SIOS和111个CD3免疫染色体活检WSIS的数据集。在36人的持有试验组上，21个CD3染色的WSIS在上皮细分上实现了96.6％的平均交叉口96.6％和95.3％。我们展示了病理学家级分割准确性和临床可接受的运行时间绩效，并显示了没有编程经验的病理学家可以仅使用自由使用软件为组织病理WSIS创建近最先进的分段解决方案。该研究进一步展示了开源解决方案的强度在其创建普遍的开放管道的能力中，其中培训的模型和预测可以无缝地以开放格式导出，从而在外部解决方案中使用。所有脚本，培训的型号，视频教程和251个WSI的完整数据集在https://github.com/andreped/nocodeSeg中公开可用，以加速在该领域的研究。

We present a dynamic path planning algorithm to navigate an amphibious rotor craft through a concave time-invariant obstacle field while attempting to minimize energy usage. We create a nonlinear quaternion state model that represents the rotor craft dynamics above and below the water. The 6 degree of freedom dynamics used within a layered architecture to generate motion paths for the vehicle to follow and the required control inputs. The rotor craft has a 3 dimensional map of its surroundings that is updated via limited range onboard sensor readings within the current medium (air or water). Path planning is done via PRM and D* Lite.

Biological systems often choose actions without an explicit reward signal, a phenomenon known as intrinsic motivation. The computational principles underlying this behavior remain poorly understood. In this study, we investigate an information-theoretic approach to intrinsic motivation, based on maximizing an agent's empowerment (the mutual information between its past actions and future states). We show that this approach generalizes previous attempts to formalize intrinsic motivation, and we provide a computationally efficient algorithm for computing the necessary quantities. We test our approach on several benchmark control problems, and we explain its success in guiding intrinsically motivated behaviors by relating our information-theoretic control function to fundamental properties of the dynamical system representing the combined agent-environment system. This opens the door for designing practical artificial, intrinsically motivated controllers and for linking animal behaviors to their dynamical properties.

Modern mobile burst photography pipelines capture and merge a short sequence of frames to recover an enhanced image, but often disregard the 3D nature of the scene they capture, treating pixel motion between images as a 2D aggregation problem. We show that in a "long-burst", forty-two 12-megapixel RAW frames captured in a two-second sequence, there is enough parallax information from natural hand tremor alone to recover high-quality scene depth. To this end, we devise a test-time optimization approach that fits a neural RGB-D representation to long-burst data and simultaneously estimates scene depth and camera motion. Our plane plus depth model is trained end-to-end, and performs coarse-to-fine refinement by controlling which multi-resolution volume features the network has access to at what time during training. We validate the method experimentally, and demonstrate geometrically accurate depth reconstructions with no additional hardware or separate data pre-processing and pose-estimation steps.

Reinforcement learning can enable robots to navigate to distant goals while optimizing user-specified reward functions, including preferences for following lanes, staying on paved paths, or avoiding freshly mowed grass. However, online learning from trial-and-error for real-world robots is logistically challenging, and methods that instead can utilize existing datasets of robotic navigation data could be significantly more scalable and enable broader generalization. In this paper, we present ReViND, the first offline RL system for robotic navigation that can leverage previously collected data to optimize user-specified reward functions in the real-world. We evaluate our system for off-road navigation without any additional data collection or fine-tuning, and show that it can navigate to distant goals using only offline training from this dataset, and exhibit behaviors that qualitatively differ based on the user-specified reward function.

Recent advances in batch (offline) reinforcement learning have shown promising results in learning from available offline data and proved offline reinforcement learning to be an essential toolkit in learning control policies in a model-free setting. An offline reinforcement learning algorithm applied to a dataset collected by a suboptimal non-learning-based algorithm can result in a policy that outperforms the behavior agent used to collect the data. Such a scenario is frequent in robotics, where existing automation is collecting operational data. Although offline learning techniques can learn from data generated by a sub-optimal behavior agent, there is still an opportunity to improve the sample complexity of existing offline reinforcement learning algorithms by strategically introducing human demonstration data into the training process. To this end, we propose a novel approach that uses uncertainty estimation to trigger the injection of human demonstration data and guide policy training towards optimal behavior while reducing overall sample complexity. Our experiments show that this approach is more sample efficient when compared to a naive way of combining expert data with data collected from a sub-optimal agent. We augmented an existing offline reinforcement learning algorithm Conservative Q-Learning with our approach and performed experiments on data collected from MuJoCo and OffWorld Gym learning environments.

Monitoring changes inside a reservoir in real time is crucial for the success of CO2 injection and long-term storage. Machine learning (ML) is well-suited for real-time CO2 monitoring because of its computational efficiency. However, most existing applications of ML yield only one prediction (i.e., the expectation) for a given input, which may not properly reflect the distribution of the testing data, if it has a shift with respect to that of the training data. The Simultaneous Quantile Regression (SQR) method can estimate the entire conditional distribution of the target variable of a neural network via pinball loss. Here, we incorporate this technique into seismic inversion for purposes of CO2 monitoring. The uncertainty map is then calculated pixel by pixel from a particular prediction interval around the median. We also propose a novel data-augmentation method by sampling the uncertainty to further improve prediction accuracy. The developed methodology is tested on synthetic Kimberlina data, which are created by the Department of Energy and based on a CO2 capture and sequestration (CCS) project in California. The results prove that the proposed network can estimate the subsurface velocity rapidly and with sufficient resolution. Furthermore, the computed uncertainty quantifies the prediction accuracy. The method remains robust even if the testing data are distorted due to problems in the field data acquisition. Another test demonstrates the effectiveness of the developed data-augmentation method in increasing the spatial resolution of the estimated velocity field and in reducing the prediction error.

Stacking (or stacked generalization) is an ensemble learning method with one main distinctiveness from the rest: even though several base models are trained on the original data set, their predictions are further used as input data for one or more metamodels arranged in at least one extra layer. Composing a stack of models can produce high-performance outcomes, but it usually involves a trial-and-error process. Therefore, our previously developed visual analytics system, StackGenVis, was mainly designed to assist users in choosing a set of top-performing and diverse models by measuring their predictive performance. However, it only employs a single logistic regression metamodel. In this paper, we investigate the impact of alternative metamodels on the performance of stacking ensembles using a novel visualization tool, called MetaStackVis. Our interactive tool helps users to visually explore different singular and pairs of metamodels according to their predictive probabilities and multiple validation metrics, as well as their ability to predict specific problematic data instances. MetaStackVis was evaluated with a usage scenario based on a medical data set and via expert interviews.

We study the capabilities of speech processing systems trained simply to predict large amounts of transcripts of audio on the internet. When scaled to 680,000 hours of multilingual and multitask supervision, the resulting models generalize well to standard benchmarks and are often competitive with prior fully supervised results but in a zero-shot transfer setting without the need for any fine-tuning. When compared to humans, the models approach their accuracy and robustness. We are releasing models and inference code to serve as a foundation for further work on robust speech processing.